CN115972223B - Trial assembly robot - Google Patents
Trial assembly robot Download PDFInfo
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- CN115972223B CN115972223B CN202211678525.1A CN202211678525A CN115972223B CN 115972223 B CN115972223 B CN 115972223B CN 202211678525 A CN202211678525 A CN 202211678525A CN 115972223 B CN115972223 B CN 115972223B
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- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims description 19
- 229910001369 Brass Inorganic materials 0.000 claims description 4
- 239000010951 brass Substances 0.000 claims description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 abstract description 6
- 230000007306 turnover Effects 0.000 abstract description 4
- 229910052742 iron Inorganic materials 0.000 abstract description 3
- 229910000831 Steel Inorganic materials 0.000 description 8
- 230000009471 action Effects 0.000 description 8
- 238000009434 installation Methods 0.000 description 8
- 239000010959 steel Substances 0.000 description 8
- 230000005484 gravity Effects 0.000 description 5
- 210000001503 joint Anatomy 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005536 corrosion prevention Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005246 galvanizing Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Abstract
The invention discloses a trial assembly robot, and relates to the technical field of electric power iron tower assembly. The invention comprises a portal frame component and an assembling mechanism, wherein the assembling mechanism comprises an assembling plate capable of sliding and overturning, and the bottom of a mounting rack arranged on the portal frame component is provided with a plurality of assembling plates; the device comprises a assembling plate, and is characterized by further comprising a sliding groove arranged on the front surface of the assembling plate, wherein the inside of the sliding groove is connected with a left sliding block and a right sliding block in a sliding manner, the front surfaces of the left sliding block and the right sliding block are respectively provided with a clamping mechanism capable of clamping the assembly tower rod piece, the outer side of the left sliding block is provided with a scanning assembly, and the scanning assembly can capture an image of the assembly tower rod piece and convert the image into data which can be displayed, edited, stored and output by an externally connected computer. According to the invention, through the design of the portal frame assembly capable of transversely and longitudinally running, the rod piece can be transported to any position, and meanwhile, through the cooperation of the turnover and slidable assembly plates, the rod piece can be installed at any angle, and the assembly efficiency is high.
Description
Technical Field
The invention relates to the technical field of electric power iron tower assembly, in particular to a trial assembly robot.
Background
The transmission line iron tower is a tower-shaped building for transmission. The structural characteristics of the tower type steel plate heat-insulating steel plate are that various tower type steel plates belong to a space truss structure, rod pieces mainly consist of single equilateral angle steel or combined angle steel, the rod pieces are connected by adopting rough bolts, the bolts are connected by shearing force, the whole tower consists of angle steel, connecting steel plates and bolts, and individual parts such as tower legs and the like are welded into a combined piece by a plurality of steel plates, so that hot galvanizing corrosion prevention, transportation and construction erection are very convenient.
The existing power transmission line test assembly tower usually depends on manual identification of a part number during assembly, because the test assembly tower is large in structure, required rods are more, the manual identification of the part number is low in efficiency and easy to make mistakes, and meanwhile, more people are required for installation, the installation efficiency is low and the safety is low.
Disclosure of Invention
The invention aims at: the invention provides a trial assembly robot for solving the problems of manual identification of a part number, low efficiency, easy error, more personnel required for installation, low installation efficiency and low safety.
The invention adopts the following technical scheme for realizing the purposes:
the assembly robot comprises a portal frame assembly and an assembly mechanism, wherein the assembly mechanism is arranged on the portal frame assembly, the portal frame assembly can drive the assembly mechanism to move transversely and longitudinally, and the assembly mechanism comprises a mounting frame arranged on the portal frame assembly and an assembly plate capable of sliding and overturning;
still including seting up at the positive spout of equipment board, the inside sliding connection of spout has left slider and right slider, the inside of left slider and right slider all is provided with locking mechanical system, locking mechanical system can restrict left slider and right slider and slide, the front of left slider and right slider all is provided with the fixture that can the test assembly tower member of centre gripping, the outside of left slider is provided with scanning component, scanning component can catch test assembly tower member image and with it convert it into the data that the external computer can show, edit, save and export.
Further, the first rotating shaft driven by the motor is arranged at the bottom of the mounting frame, the rotating frame is fixedly connected to the bottom of the first rotating shaft, the second rotating shaft driven by the motor is arranged on the front face of the rotating frame, the guide frame is fixedly connected to the front face of the second rotating shaft, and the assembly plate is arranged on the front face of the guide frame.
Further, the guide way has been seted up in the front of leading truck, the screw hole has been seted up to the inside of leading truck, the back of tooling plate is provided with the guide block of sliding connection in the guide way, tooling plate's back rotation is installed and is passed through motor drive's lead screw, the threaded connection of lead screw is in the screw hole.
Further, the locking mechanism comprises a transmission groove formed in the left sliding block and the right sliding block, a locking electromagnet is arranged on the inner wall of the transmission groove, a locking sliding block is connected inside the transmission groove in a sliding mode, a tension spring is arranged between the locking sliding block and the inner wall of the transmission groove, a connecting rod is hinged to the outer side of the locking sliding block, a locking block hinged to the connecting rod is connected inside the transmission groove in a sliding mode, and the locking mechanism further comprises a clamping groove formed in the inner wall of the sliding groove, and the locking block can be clamped in the clamping groove.
Further, the clamping mechanism comprises a clamping screw rod which is rotatably arranged on the outer sides of the left sliding block and the right sliding block, the clamping screw rod is driven by a motor, the spiral directions of the two ends of the clamping screw rod are opposite, the upper end of the clamping screw rod is in threaded connection with an upper clamping plate, and the lower end of the clamping screw rod is in threaded connection with a lower clamping plate.
Further, the bottom fixedly connected with centre gripping box of punch holder, the outside grafting of centre gripping box has the centre gripping traveller, centre gripping traveller is whole to be listed as and is distributed.
Further, the one end that the centre gripping traveller is located the centre gripping box inside is provided with the fixed block, be provided with the top spring between fixed block and the centre gripping box, the second electro-magnet is installed to the inner wall of centre gripping box, the centre gripping traveller adopts brass to make.
Further, the clamping slide columns are arranged in a step mode, and the maximum radius positions of the adjacent clamping slide columns are in contact with each other.
Further, the distance between the guide frame and the mounting frame is greater than half the width of the upper cross beam of the portal frame assembly.
The beneficial effects of the invention are as follows:
according to the invention, the assembling plate is controlled to be turned to be in a vertical state, the locking mechanism is unlocked, the left sliding block and the right sliding block slide to the bottom of the assembling plate under the action of gravity, the left sliding block is positioned above the right sliding block, the rod piece is conveniently clamped on the right sliding block, the right sliding block is locked by the locking mechanism, the assembling plate is controlled to be turned over, the left sliding block descends away from the right sliding block under the action of gravity, the left sliding block drives the scanning assembly to scan and shoot along the surface of the rod piece, and then the key dimensions such as the length, the pitch of holes and the like of the rod piece can be detected, meanwhile, the identification number of the rod piece can be scanned and shot, and the device is convenient to use and high in identification efficiency.
According to the invention, through the design of the portal frame assembly capable of transversely and longitudinally running, the rod piece can be transported to any position, and meanwhile, through the cooperation of the turnover and slidable assembly plates, the rod piece can be installed at any angle, so that the assembly is convenient, and the assembly efficiency is high.
According to the invention, the assembling plate is controlled to be turned to be in a vertical state, then the locking mechanism is unlocked, the left sliding block and the right sliding block slide to the bottom of the assembling plate under the action of gravity, at the moment, the rod piece is conveniently clamped on the right sliding block, the right sliding block is locked by the locking mechanism, and the right sliding block is used as an assembling base point during assembling, so that the rod piece can be automatically butted, and the mounting precision is high.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a rear axle side schematic view of the assembly mechanism of the present invention;
FIG. 3 is a schematic illustration of the positive side of the assembly mechanism of the present invention;
FIG. 4 is a schematic cross-sectional view of the assembly mechanism of the present invention;
FIG. 5 is an enlarged schematic view of portion A of FIG. 4 in accordance with the present invention;
FIG. 6 is a schematic perspective view of a clamping cassette of the present invention;
FIG. 7 is a schematic front view of a clamping cassette of the present invention;
FIG. 8 is a schematic view of a clamping bolt of the present invention;
FIG. 9 is a schematic overall elevational view of the present invention;
FIG. 10 is a loading schematic diagram of the present invention;
fig. 11 is a schematic view of the angle adjustment of the present invention.
Reference numerals: 1. a gantry assembly; 2. an assembly mechanism; 21. a mounting frame; 22. a first rotating shaft; 23. a rotating frame; 24. a second rotating shaft; 25. a guide frame; 26. assembling plates; 27. a guide block; 28. a screw rod; 29. a chute; 210. a clamping groove; 211. a left slider; 212. a right slider; 213. locking the electromagnet; 214. a locking slide; 215. a tension spring; 216. a connecting rod; 217. a locking block; 218. clamping a screw; 219. an upper clamping plate; 220. a lower clamping plate; 221. a clamping box; 222. clamping the sliding column; 223. a top spring; 224. a second electromagnet; 225. and a scanning assembly.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
As shown in fig. 1-11, the trial assembly robot comprises a portal frame assembly 1 and an assembly mechanism 2, wherein the assembly mechanism 2 is installed on the portal frame assembly 1, the portal frame assembly 1 can drive the assembly mechanism to move transversely and longitudinally, and the assembly mechanism comprises a mounting frame 21 installed on the portal frame assembly 1 and an assembly plate 26 capable of sliding and overturning;
still including seting up at the positive spout 29 of package board 26, the inside sliding connection of spout 29 has left slider 211 and right slider 212, the inside of left slider 211 and right slider 212 all is provided with locking mechanical system, locking mechanical system can restrict left slider 211 and right slider 212 slip, the front of left slider 211 and right slider 212 all is provided with the fixture that can the centre gripping test equipment tower member, the outside of left slider 211 is provided with scanning component 225, scanning component can catch test equipment tower member image and change it into the data that the external connection computer can show, edit, save and export.
When the assembly is needed, the assembly plate 26 is turned over, meanwhile, the assembly plate 26 slides relative to the mounting frame 21, at the moment, the assembly plate 26 is turned over to be in a vertical state, the assembly plate 26 drives the left sliding block 211 and the right sliding block 212 to be turned over, the locking mechanism is controlled to be unlocked, the left sliding block 211 and the right sliding block 212 descend under the action of gravity, the left sliding block 211 is positioned at the top of the right sliding block 212, the left sliding block 211 and the right sliding block 212 descend to the bottom of the sliding groove 29, and as the assembly plate 26 slides relative to the mounting frame 21, the bottom end of the assembly plate 26 is positioned close to the ground, so that a rod piece on the ground is conveniently mounted on the right sliding block 212, and then the clamping mechanism on the right sliding block 212 is controlled to clamp the rod piece;
after the rod clamping is finished, the right sliding block 212 is locked in the sliding groove 29 by the control locking mechanism, then the assembling plate 26 is continuously controlled to slide up and down, meanwhile, the assembling plate 26 is controlled to overturn, the center of the assembling plate 26 is close to the overturn center, the overturn space is saved, when the assembling plate 26 is overturned for 180 degrees, the left sliding block 211 descends under the action of gravity, the left sliding block 211 is far away from the right sliding block 212, the left sliding block 211 drives the scanning assembly 225 to descend, the scanning assembly 225 scans along the surface of the rod, the scanning assembly 225 captures an image of a rod of the assembly test tower and converts the image into data which can be displayed, edited, stored and output by an external computer, the length, the pitch and other key data of the rod are analyzed through the data, meanwhile, the scanning assembly 225 can identify the rod label without manual identification, and the identification efficiency is high and errors are avoided;
when the left sliding block 211 descends to the bottom end of the rod, the locking mechanism is controlled to operate, the left sliding block 211 is locked in the sliding groove 29 by the locking mechanism, then the clamping mechanism on the left sliding block 211 is controlled to clamp the rod, so that the two ends of the rod can be clamped, the rod can be stably assembled, after the clamping is finished, the assembling plate 26 is controlled to turn over, the assembling plate 26 drives the rod to swing, the angle of the rod can be automatically adjusted according to the installation position of the rod, so that the rod can be directly moved to the installation position in a desired posture, the installation is convenient, and meanwhile, the right sliding block 212 is positioned at the bottom end of the sliding groove 29, the right sliding block 212 is taken as a base point, the rod can be accurately and quickly abutted, and the installation efficiency is high;
after the clamping is finished, the portal frame assembly 1 is controlled to run, the portal frame assembly 1 drives the mounting frame 21 to move, the mounting frame 21 drives the assembly plate 26 to move, the assembly plate 26 drives the rod to move to the mounting position, then the assembly plate 26 is controlled to slide up and down relative to the mounting frame 21, the assembly plate 26 drives the rod to be adjusted to the required height, then the assembly plate 26 is controlled to swing, and the assembly plate 26 drives the rod to move to the mounting position in the required gesture, so that the assembly is convenient.
As shown in fig. 2, in some embodiments, a first rotating shaft 22 driven by a motor is installed at the bottom of the mounting frame 21, a rotating frame 23 is fixedly connected to the bottom of the first rotating shaft 22, a second rotating shaft 24 driven by a motor is installed at the front of the rotating frame 23, a guide frame 25 is fixedly connected to the front of the second rotating shaft 24, and an assembly plate 26 is disposed at the front of the guide frame 25.
The motor is controlled to rotate, the motor drives the second rotating shaft 24 to rotate, the second rotating shaft 24 drives the guide frame 25 to rotate, the guide frame 25 can drive the assembling plate 26 to turn over, meanwhile, the assembling plate 26 is controlled to slide relative to the guide frame 25, the rotation of the guide frame 25 is not influenced, and the control is stable;
when the rod piece is required to be installed on the front surface, the first rotating shaft 22 is controlled to rotate, the first rotating shaft 22 drives the rotating frame 23 to rotate, the rotating frame 23 drives the assembling plate 26 to rotate, the assembling plate 26 drives the left sliding block 211 and the right sliding block 212 to rotate to the back surface, and then the rod piece can be installed on the front surface, when the rod piece is required to be installed on the back surface, the first rotating shaft 22 is controlled to rotate reversely, the first rotating shaft 22 drives the rotating frame 23 to rotate reversely, the rotating frame 23 drives the assembling plate 26 to rotate reversely, the assembling plate 26 drives the left sliding block 211 and the right sliding block 212 to rotate to the front surface, and then the rod piece can be installed on the back surface, so that the assembling plate 26 is convenient to install, and is applicable to different rod pieces.
As shown in fig. 2, in some embodiments, the front surface of the guide frame 25 is provided with a guide groove, the inside of the guide frame 25 is provided with a threaded hole, the back surface of the assembly plate 26 is provided with a guide block 27 slidably connected in the guide groove, the back surface of the assembly plate 26 is rotatably provided with a screw rod 28 driven by a motor, and the thread of the screw rod 28 is connected in the threaded hole.
Through controlling the rotation of the screw rod 28, the screw rod 28 drives the assembly plate 26 to slide relative to the guide frame 25 through the threaded hole, so that the control is stable, and meanwhile, under the cooperation of the guide block 27 and the guide groove, the assembly plate 26 can stably slide relative to the guide frame 25, so that the transmission is stable, and the structure is firm.
As shown in fig. 4, in some embodiments, the locking mechanism includes a transmission groove formed inside the left slider 211 and the right slider 212, a locking electromagnet 213 is disposed on an inner wall of the transmission groove, a locking slider 214 is slidably connected inside the transmission groove, a tension spring 215 is disposed between the locking slider 214 and an inner wall of the transmission groove, a connecting rod 216 is hinged to an outer side of the locking slider 214, a locking block 217 hinged to the connecting rod 216 is slidably connected inside the transmission groove, and the locking mechanism further includes a clamping groove 210 formed on an inner wall of the sliding groove 29, where the locking block 217 can be clamped in the clamping groove 210.
When the left sliding block 211 and the right sliding block 212 need to be locked, the locking electromagnet 213 is controlled to be electrified, the locking electromagnet 213 generates magnetic force, the locking electromagnet 213 drives the locking sliding block 214 to slide close to the locking electromagnet 213, the locking sliding block 214 drives the connecting rod 216 to swing, and the connecting rod 216 drives the locking block 217 to be clamped in the clamping groove 210, so that the left sliding block 211 and the right sliding block 212 can be locked;
when unlocking is needed, the locking electromagnet 213 is controlled to be powered off, at the moment, the tension spring 215 drives the locking slide block 214 to be far away from the locking electromagnet 213, the locking slide block 214 drives the connecting rod 216 to swing, the connecting rod 216 drives the locking block 217 to be far away from the clamping groove 210, and the left slide block 211 and the right slide block 212 can slide freely;
when the left slider 211 descends relative to the right slider 212, the current passing through the locking electromagnet 213 is controlled, the magnetic force of the locking electromagnet 213 is changed, the magnetic force of the locking electromagnet 213 is reduced, but the magnetic force does not disappear, at the moment, the locking electromagnet 213 gives a certain attractive force to the locking slider 214, the locking slider 214 gives a certain buffering force to the locking slider 217 through the connecting rod 216, the locking slider 217 gives a certain descending buffering force to the left slider 211 through the clamping groove 210, the left slider 211 can stably descend and cannot descend too quickly, scanning of a scanning assembly is ensured to be careful, meanwhile, when the rod is hinged short, the transition descent of the left slider 211 can be prevented, the rod cannot be clamped, the position of the left slider 211 does not need to be adjusted repeatedly, the adjustment is convenient, and the functionality is strong.
As shown in fig. 3, in some embodiments, the clamping mechanism includes a clamping screw 218 rotatably mounted on the outer sides of the left slider 211 and the right slider 212, the clamping screw 218 is driven by a motor, the spiral directions of both ends of the clamping screw 218 are opposite, an upper clamping plate 219 is screwed to the upper end of the clamping screw 218, and a lower clamping plate 220 is screwed to the lower end of the clamping screw 218.
Through controlling the motor to rotate, the motor drives the clamping screw 218 to rotate, and the clamping screw 218 drives the upper clamping plate 219 to synchronously and reversely slide with the lower clamping plate 220, so that the upper clamping plate 219 and the lower clamping plate 220 can clamp the rod piece, the center line of the rod piece is coincided with the center line of the assembly plate 26, the rod piece is ensured to be clamped stably, and the assembly plate 26 is stably turned over.
As shown in fig. 5 and 6, in some embodiments, a clamping box 221 is fixedly connected to the bottom of the upper clamping plate 219, and clamping posts 222 are inserted on the outer side of the clamping box 221, and the clamping posts 222 are distributed in an entire row.
Through the setting of the centre gripping traveller 222 that whole row distributes, in centre gripping member, peg graft the bolt in the bolt hole of member, and the hexagonal end grafting of bolt is in centre gripping traveller 222, and hexagonal end card is between multiunit centre gripping traveller 222, when screwing to the bolt, need not alone to fix the bolt one section, equipment is convenient, the setting of the centre gripping traveller 222 of whole row distribution simultaneously makes centre gripping traveller 222 can the joint not lead to the bolt of hole site, makes the device can be applicable to the member of different models, equipment is convenient.
As shown in fig. 5, in some embodiments, a fixed block is disposed at one end of the clamping slide column 222 located inside the clamping box 221, a top spring 223 is disposed between the fixed block and the clamping box 221, a second electromagnet 224 is mounted on the inner wall of the clamping box 221, and the clamping slide column 222 is made of brass.
While clamping the rod, pre-selecting inserting bolts in bolt holes of the rod, inserting hexagonal ends of the bolts between a plurality of groups of clamping slide columns 222, then controlling a second electromagnet 224 to be electrified, wherein the clamping slide columns 222 are made of brass, the clamping slide columns 222 are not attracted by magnetic force, but the bolts are attracted by magnetic force, the bolts continue to slide into the clamping slide columns 222 under the action of the magnetic force, at the moment, the bolts are completely clamped between the clamping slide columns 222, so that the other ends of the bolts cannot exceed the surface of the rod, the butt joint of the rod is not influenced, the clamping slide columns 222 at other positions are kept stable under the action of a top spring 223, and the bolts can be stably clamped, at the moment, can give supporting force to the rod through the clamping slide columns 222 and the bolt holes, so that the rod operates stably, and the rod is assembled stably;
after the rod piece is in butt joint, the second electromagnet 224 is controlled to be powered off, the second electromagnet 224 loses magnetic force, at the moment, the clamping slide column 222 extruded by the bolt is ejected out under the action of the ejection spring 223, the clamping slide column 222 drives the bolt to be automatically inserted into the butt joint bolt hole, and then the bolt can be automatically inserted, manual insertion is not needed, the assembly is more convenient, at the moment, the bolt is only clamped between the clamping slide columns 222 by the hexagonal end, the bolt can still be limited, only the nut is needed to be screwed, and the assembly is convenient.
As shown in fig. 6, in some embodiments, the gripping spools 222 are arranged in a step, with adjacent gripping spools 222 contacting each other at their largest radius.
Through this design, the biggest radius department of adjacent centre gripping traveller 222 contacts each other, can more inseparable joint bolt, simultaneously through the design of small radius, adjacent centre gripping traveller 222 is contactless each other, can stable slip in centre gripping box 221, makes centre gripping traveller 222 slide stably, can set up top spring 223 in centre gripping traveller 222 outside simultaneously, compact structure.
As shown in fig. 1, in some embodiments, the distance between the guide frame 25 and the mounting frame 21 is greater than half the width of the upper beam of the gantry assembly 1.
Through this design, when making the equipment board 26 upset, on the crossbeam on the tooling plate 26 can not touch portal frame assembly 1, the equipment board 26 upset space is big, and it is more convenient to assemble.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (2)
1. The trial assembly robot comprises a portal frame assembly (1) and an assembly mechanism (2), and is characterized in that the assembly mechanism (2) is arranged on the portal frame assembly (1), the portal frame assembly (1) can drive the assembly mechanism to move transversely and longitudinally, and the assembly mechanism comprises a mounting rack (21) arranged on the portal frame assembly (1)AndAn assembling plate (26) capable of sliding and turning;
the device comprises an assembling plate (26), and is characterized by further comprising a sliding groove (29) formed in the front surface of the assembling plate (26), wherein the inside of the sliding groove (29) is connected with a left sliding block (211) and a right sliding block (212) in a sliding manner, locking mechanisms are arranged in the left sliding block (211) and the right sliding block (212), the locking mechanisms can limit the left sliding block (211) and the right sliding block (212) to slide, clamping mechanisms capable of clamping a test assembling tower rod piece are arranged in the front surfaces of the left sliding block (211) and the right sliding block (212), a scanning assembly (225) is arranged on the outer side of the left sliding block (211), and the scanning assembly can capture an image of the test assembling tower rod piece and convert the image into data which can be displayed, edited, stored and output by an externally connected computer;
the bottom of the mounting frame (21) is provided with a first rotating shaft (22) driven by a motor, the bottom of the first rotating shaft (22) is fixedly connected with a rotating frame (23), the front surface of the rotating frame (23) is provided with a second rotating shaft (24) driven by the motor, the front surface of the second rotating shaft (24) is fixedly connected with a guide frame (25), and the assembling plate (26) is arranged on the front surface of the guide frame (25);
the front of the guide frame (25) is provided with a guide groove, the inside of the guide frame (25) is provided with a threaded hole, the back of the assembly plate (26) is provided with a guide block (27) which is in sliding connection with the guide groove, the back of the assembly plate (26) is rotatably provided with a screw rod (28) driven by a motor, and the thread of the screw rod (28) is connected with the threaded hole;
the locking mechanism comprises a transmission groove which is formed in the left sliding block (211) and the right sliding block (212), a locking electromagnet (213) is arranged on the inner wall of the transmission groove, a locking sliding block (214) is connected in a sliding manner in the transmission groove, a tension spring (215) is arranged between the locking sliding block (214) and the inner wall of the transmission groove, a connecting rod (216) is hinged to the outer side of the locking sliding block (214), a locking block (217) hinged to the connecting rod (216) is connected in the transmission groove in a sliding manner, and the locking mechanism further comprises a clamping groove (210) which is formed in the inner wall of the sliding groove (29), and the locking block (217) can be clamped in the clamping groove (210);
the clamping mechanism comprises clamping screws (218) rotatably arranged on the outer sides of a left sliding block (211) and a right sliding block (212), the clamping screws (218) are driven by a motor, the spiral directions of the two ends of the clamping screws (218) are opposite, the upper ends of the clamping screws (218) are in threaded connection with upper clamping plates (219), and the lower ends of the clamping screws (218) are in threaded connection with lower clamping plates (220);
the bottom of the upper clamping plate (219) is fixedly connected with a clamping box (221), clamping slide columns (222) are inserted into the outer side of the clamping box (221), and the clamping slide columns (222) are distributed in an entire row;
one end of the clamping slide column (222) positioned in the clamping box (221) is provided with a fixed block, a top spring (223) is arranged between the fixed block and the clamping box (221), a second electromagnet (224) is arranged on the inner wall of the clamping box (221), and the clamping slide column (222) is made of brass;
the clamping slide columns (222) are arranged in a step mode, and the largest radius positions of the adjacent clamping slide columns (222) are in contact with each other.
2. Trial assembly robot according to claim 1, characterized in that the distance between the guide frame (25) and the mounting frame (21) is more than half the width of the upper beam of the gantry assembly (1).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211678525.1A CN115972223B (en) | 2022-12-26 | 2022-12-26 | Trial assembly robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211678525.1A CN115972223B (en) | 2022-12-26 | 2022-12-26 | Trial assembly robot |
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| CN115972223A CN115972223A (en) | 2023-04-18 |
| CN115972223B true CN115972223B (en) | 2024-01-26 |
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| CN107378985A (en) * | 2017-07-31 | 2017-11-24 | 青岛万祥如光机械技术研究有限公司 | A kind of Intelligent management device |
| CN107414579A (en) * | 2017-09-14 | 2017-12-01 | 北京发那科机电有限公司 | A kind of manipulator and material fetching device |
| CN111299826A (en) * | 2020-04-10 | 2020-06-19 | 李姚 | Intelligent manufacturing manipulator |
| CN112276916A (en) * | 2020-10-20 | 2021-01-29 | 攀枝花恒威化工有限责任公司 | Robot stacking device and operation method thereof |
| CN114873244A (en) * | 2022-05-12 | 2022-08-09 | 河南应用技术职业学院 | Logistics conveying device based on computer application technology |
| CN115258920A (en) * | 2022-08-12 | 2022-11-01 | 衡阳亿力机械制造有限公司 | Lifting device for producing forklift overhead guard |
| CN115351812A (en) * | 2022-10-21 | 2022-11-18 | 广东毕要科技有限公司 | Robot double-claw clamping device |
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| CN115972223A (en) | 2023-04-18 |
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